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<div class="title">bivariate_polynomial.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef BIVARIATE_POLYNOMIAL_HPP</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define BIVARIATE_POLYNOMIAL_HPP</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt;</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">   44</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">pcl::BivariatePolynomialT&lt;real&gt;::BivariatePolynomialT</a> (<span class="keywordtype">int</span> new_degree) :</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  degree(0), parameters(NULL), gradient_x(NULL), gradient_y(NULL)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#aed11361541574e5403b2cae87a6fdefb">setDegree</a>(new_degree);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a0c0faaa19845edb22846ee572897a7ae">   52</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">pcl::BivariatePolynomialT&lt;real&gt;::BivariatePolynomialT</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT</a>&amp; other) :</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  degree(0), parameters(NULL), gradient_x(NULL), gradient_y(NULL)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">deepCopy</a> (other);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;}</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a0f28750be24f617a845d13a5b162024d">   60</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a0f28750be24f617a845d13a5b162024d">pcl::BivariatePolynomialT&lt;real&gt;::~BivariatePolynomialT</a> ()</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  memoryCleanUp ();</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;}</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#aed11361541574e5403b2cae87a6fdefb">   67</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#aed11361541574e5403b2cae87a6fdefb">pcl::BivariatePolynomialT&lt;real&gt;::setDegree</a> (<span class="keywordtype">int</span> newDegree)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;{</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">if</span> (newDegree &lt;= 0)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    degree = -1;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    memoryCleanUp();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordtype">int</span> oldDegree = degree;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  degree = newDegree;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (oldDegree != degree)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">delete</span>[] parameters;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    parameters = <span class="keyword">new</span> real[getNoOfParameters ()];</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">delete</span> gradient_x; gradient_x = NULL;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">delete</span> gradient_y; gradient_y = NULL;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;}</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a50f80298cd732662a0ca9ab7c2b6af1d">   88</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a50f80298cd732662a0ca9ab7c2b6af1d">pcl::BivariatePolynomialT&lt;real&gt;::memoryCleanUp</a> ()</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;{</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">delete</span>[] parameters; parameters = NULL;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keyword">delete</span> gradient_x; gradient_x = NULL;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">delete</span> gradient_y; gradient_y = NULL;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">   97</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">pcl::BivariatePolynomialT&lt;real&gt;::deepCopy</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT&lt;real&gt;</a>&amp; other)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;{</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">this</span> == &amp;other) <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">if</span> (degree != other.degree) </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    memoryCleanUp ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    degree = other.degree;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    parameters = <span class="keyword">new</span> real[getNoOfParameters ()];</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">if</span> (other.gradient_x == NULL) </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">delete</span> gradient_x; gradient_x=NULL;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">delete</span> gradient_y; gradient_y=NULL;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (gradient_x==NULL) </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    gradient_x = <span class="keyword">new</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT&lt;real&gt;</a> ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    gradient_y = <span class="keyword">new</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT&lt;real&gt;</a> ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  real* tmpParameters1 = parameters;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keyword">const</span> real* tmpParameters2 = other.parameters;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> noOfParameters = getNoOfParameters ();</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i&lt;noOfParameters; i++)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    *tmpParameters1++ = *tmpParameters2++;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">if</span> (other.gradient_x != NULL) </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    gradient_x-&gt;deepCopy (*other.gradient_x);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    gradient_y-&gt;deepCopy (*other.gradient_y);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#acde974dde59cc80e99e489c5060144e9">  131</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#acde974dde59cc80e99e489c5060144e9">pcl::BivariatePolynomialT&lt;real&gt;::calculateGradient</a> (<span class="keywordtype">bool</span> forceRecalc)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;{</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">if</span> (gradient_x!=NULL &amp;&amp; !forceRecalc) </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (gradient_x == NULL)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    gradient_x = <span class="keyword">new</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT&lt;real&gt;</a> (degree-1);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">if</span> (gradient_y == NULL)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    gradient_y = <span class="keyword">new</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT&lt;real&gt;</a> (degree-1);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> parameterPosDx=0, parameterPosDy=0;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> xDegree=degree; xDegree&gt;=0; xDegree--) </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> yDegree=degree-xDegree; yDegree&gt;=0; yDegree--) </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">if</span> (xDegree &gt; 0) </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        gradient_x-&gt;parameters[parameterPosDx] = xDegree * parameters[parameterPosDx];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        parameterPosDx++;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keywordflow">if</span> (yDegree &gt; 0) </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        gradient_y-&gt;parameters[parameterPosDy] = yDegree * parameters[ ( (degree+2-xDegree)* (degree+1-xDegree))/2 -</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                                                                        yDegree - 1];</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        parameterPosDy++;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; real</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#acdc0e524f9459299f1ce12ad90c80d11">  162</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#acdc0e524f9459299f1ce12ad90c80d11">pcl::BivariatePolynomialT&lt;real&gt;::getValue</a> (real x, real y)<span class="keyword"> const</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> parametersSize = getNoOfParameters ();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  real* tmpParameter = &amp;parameters[parametersSize-1];</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  real tmpX=1.0, tmpY, ret=0;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> xDegree=0; xDegree&lt;=degree; xDegree++) </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    tmpY = 1.0;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> yDegree=0; yDegree&lt;=degree-xDegree; yDegree++)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      ret += (*tmpParameter)*tmpX*tmpY;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      tmpY *= y;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      tmpParameter--;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    tmpX *= x;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#af6f0e129462f6ab1a5b5418b4fad4e81">  183</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#af6f0e129462f6ab1a5b5418b4fad4e81">pcl::BivariatePolynomialT&lt;real&gt;::getValueOfGradient</a> (real x, real y, real&amp; gradX, real&amp; gradY)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;{</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  calculateGradient ();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  gradX = gradient_x-&gt;getValue (x, y);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  gradY = gradient_y-&gt;getValue (x, y);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a2196b7d0c51d481bd3afe59cad5704ea">  192</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a2196b7d0c51d481bd3afe59cad5704ea">pcl::BivariatePolynomialT&lt;real&gt;::findCriticalPoints</a> (std::vector&lt;real&gt;&amp; x_values, std::vector&lt;real&gt;&amp; y_values,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                                                     std::vector&lt;int&gt;&amp; types)<span class="keyword"> const</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  x_values.clear ();</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  y_values.clear ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  types.clear ();</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">if</span> (degree == 2)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    real x = (real(2)*parameters[2]*parameters[3] - parameters[1]*parameters[4]) /</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;             (parameters[1]*parameters[1] - real(4)*parameters[0]*parameters[3]),</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;         y = (real(-2)*parameters[0]*x - parameters[2]) / parameters[1];</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite(x) || !pcl_isfinite(y))</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">int</span> type = 2;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    real det_H = real(4)*parameters[0]*parameters[3] - parameters[1]*parameters[1];</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="comment">//std::cout &lt;&lt; &quot;det(H) = &quot;&lt;&lt;det_H&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">if</span> (det_H &gt; real(0))  <span class="comment">// Check Hessian determinant</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keywordflow">if</span> (parameters[0]+parameters[3] &lt; real(0))  <span class="comment">// Check Hessian trace</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        type = 0;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        type = 1;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    x_values.push_back(x);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    y_values.push_back(y);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    types.push_back(type);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    std::cerr &lt;&lt; __PRETTY_FUNCTION__ &lt;&lt; <span class="stringliteral">&quot; is not implemented for polynomials of degree &quot;</span>&lt;&lt;degree&lt;&lt;<span class="stringliteral">&quot;. Sorry.\n&quot;</span>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; std::ostream&amp;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;pcl::operator&lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT&lt;real&gt;</a>&amp; p)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;{</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  real* tmpParameter = p.parameters;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordtype">bool</span> first = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  real currentParameter;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> xDegree=p.degree; xDegree&gt;=0; xDegree--) </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  {</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> yDegree=p.degree-xDegree; yDegree&gt;=0; yDegree--) </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      currentParameter = *tmpParameter;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordflow">if</span> (!first) </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        os &lt;&lt; (currentParameter&lt;0.0?<span class="stringliteral">&quot; - &quot;</span>:<span class="stringliteral">&quot; + &quot;</span>);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        currentParameter = fabs (currentParameter);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      }</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      os &lt;&lt; currentParameter;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordflow">if</span> (xDegree&gt;0) </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot;x&quot;</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <span class="keywordflow">if</span> (xDegree&gt;1)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          os&lt;&lt;<span class="stringliteral">&quot;^&quot;</span>&lt;&lt;xDegree;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keywordflow">if</span> (yDegree&gt;0) </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        os &lt;&lt; <span class="stringliteral">&quot;y&quot;</span>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        <span class="keywordflow">if</span> (yDegree&gt;1)</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          os&lt;&lt;<span class="stringliteral">&quot;^&quot;</span>&lt;&lt;yDegree;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      first = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      tmpParameter++;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">return</span> (os);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;}</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">  268</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">pcl::BivariatePolynomialT&lt;real&gt;::writeBinary</a> (std::ostream&amp; os)<span class="keyword"> const</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  os.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;degree), <span class="keyword">sizeof</span> (<span class="keywordtype">int</span>));</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> paramCnt = getNoOfParametersFromDegree (this-&gt;degree);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  os.write (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (this-&gt;parameters), paramCnt * <span class="keyword">sizeof</span> (real));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#ae0994df450ff82a1ad97819b77b84378">  277</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">pcl::BivariatePolynomialT&lt;real&gt;::writeBinary</a> (<span class="keyword">const</span> <span class="keywordtype">char</span>* filename)<span class="keyword"> const</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  std::ofstream fout (filename);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  writeBinary (fout);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;}</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">  285</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">pcl::BivariatePolynomialT&lt;real&gt;::readBinary</a> (std::istream&amp; os)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;{</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  memoryCleanUp ();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  os.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;this-&gt;degree), <span class="keyword">sizeof</span> (<span class="keywordtype">int</span>));</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> paramCnt = getNoOfParametersFromDegree (this-&gt;degree);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  parameters = <span class="keyword">new</span> real[paramCnt];</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  os.read (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span> (&amp;(*this-&gt;parameters)), paramCnt * <span class="keyword">sizeof</span> (real));</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;}</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> real&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_bivariate_polynomial_t.html#aa648e4933d279d954f4379ca7094186a">  296</a></span>&#160;<a class="code" href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">pcl::BivariatePolynomialT&lt;real&gt;::readBinary</a> (<span class="keyword">const</span> <span class="keywordtype">char</span>* filename)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;{</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  std::ifstream fin (filename);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  readBinary (fin);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;}</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT</a></div><div class="ttdoc">This represents a bivariate polynomial and provides some functionality for it</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a0f28750be24f617a845d13a5b162024d"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a0f28750be24f617a845d13a5b162024d">pcl::BivariatePolynomialT::~BivariatePolynomialT</a></div><div class="ttdeci">~BivariatePolynomialT()</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:60</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a19a20b4a2f728467070e04b12e65f5f9"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a19a20b4a2f728467070e04b12e65f5f9">pcl::BivariatePolynomialT::deepCopy</a></div><div class="ttdeci">void deepCopy(const BivariatePolynomialT&lt; real &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a2196b7d0c51d481bd3afe59cad5704ea"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a2196b7d0c51d481bd3afe59cad5704ea">pcl::BivariatePolynomialT::findCriticalPoints</a></div><div class="ttdeci">void findCriticalPoints(std::vector&lt; real &gt; &amp;x_values, std::vector&lt; real &gt; &amp;y_values, std::vector&lt; int &gt; &amp;types) const</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:192</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a3b5e10284148e752608ac7a3360c38bc"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a3b5e10284148e752608ac7a3360c38bc">pcl::BivariatePolynomialT::BivariatePolynomialT</a></div><div class="ttdeci">BivariatePolynomialT(int new_degree=0)</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:44</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a50f80298cd732662a0ca9ab7c2b6af1d"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a50f80298cd732662a0ca9ab7c2b6af1d">pcl::BivariatePolynomialT::memoryCleanUp</a></div><div class="ttdeci">void memoryCleanUp()</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:88</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a76d452bda6622b29b1d9629bc0de6986"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a76d452bda6622b29b1d9629bc0de6986">pcl::BivariatePolynomialT::readBinary</a></div><div class="ttdeci">void readBinary(std::istream &amp;os)</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:285</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_a933644376259b50d3e28d121024b9c08"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#a933644376259b50d3e28d121024b9c08">pcl::BivariatePolynomialT::writeBinary</a></div><div class="ttdeci">void writeBinary(std::ostream &amp;os) const</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:268</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_acdc0e524f9459299f1ce12ad90c80d11"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#acdc0e524f9459299f1ce12ad90c80d11">pcl::BivariatePolynomialT::getValue</a></div><div class="ttdeci">real getValue(real x, real y) const</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:162</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_acde974dde59cc80e99e489c5060144e9"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#acde974dde59cc80e99e489c5060144e9">pcl::BivariatePolynomialT::calculateGradient</a></div><div class="ttdeci">void calculateGradient(bool forceRecalc=false)</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_aed11361541574e5403b2cae87a6fdefb"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#aed11361541574e5403b2cae87a6fdefb">pcl::BivariatePolynomialT::setDegree</a></div><div class="ttdeci">void setDegree(int new_degree)</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:67</div></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html_af6f0e129462f6ab1a5b5418b4fad4e81"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html#af6f0e129462f6ab1a5b5418b4fad4e81">pcl::BivariatePolynomialT::getValueOfGradient</a></div><div class="ttdeci">void getValueOfGradient(real x, real y, real &amp;gradX, real &amp;gradY)</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.hpp:183</div></div>
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